面向飞机表面喷涂的多层次控制程序结构

王朝晖; 陈恳; 吴聊; 缪东晶

doi:10.7527/S1000-6893.2013.0153

航空学报 >

2013 , Vol. 34 >Issue 4: 928 - 935

DOI: https://doi.org/10.7527/S1000-6893.2013.0153

材料工程与机械制造

面向飞机表面喷涂的多层次控制程序结构

王朝晖 ,
陈恳 ,
吴聊 ,
缪东晶

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清华大学精密仪器与机械学系, 北京 100084

王朝晖男, 博士后, 助理研究员。主要研究方向: 虚拟现实, 人工智能, 多Agent系统和复杂系统建模与仿真。 Tel: 010-62345433 E-mail: wzhaohui72@sina.com;陈恳男, 博士, 教授, 博士生导师。主要研究方向: 机器人及制造自动化, 特种机器人及其应用, 机电系统设计与控制, 制造系统集成与信息化。 Tel: 010-62773266 E-mail: kenchen@tsinghua.edu.cn;吴聊男, 博士研究生。主要研究方向: 机器人标定, 机器人作业空间分析。 Tel: 010-62446269 E-mail: wu-l04@mails.tsinghua.edu.cn缪东晶男, 博士研究生。主要研究方向: 机器人及制造系统自动化, 机电系统设计与控制。 Tel: 010-62796126 E-mail: mdj09@mails.tsinghua.edu.cn

收稿日期: 2012-05-14

修回日期: 2012-08-21

网络出版日期: 2013-04-23

基金资助

国家自然科学基金(50975148);国家"863"计划(2009AA043701)

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Multi-level Control Program Structure for Aircraft Surface Spray

WANG Zhaohui ,
CHEN Ken ,
WU Liao ,
MIAO Dongjing

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Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China

Received date: 2012-05-14

Revised date: 2012-08-21

Online published: 2013-04-23

Supported by

National Natural Science Foundation of China (50975148); National High-tech Research and Development Program of China(2009AA043701) *Corresponding author. Tel.: 010-62773266 E-mail: kenchen@tsinghua.edu.cn

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摘要

为实现飞机外表面的机器人自动化喷涂,根据飞机外表面的几何特征,提出了飞机表面喷涂轨迹的规划方案和自动化喷涂作业的定位方法。根据该方法制订了多层次的喷涂控制程序结构,包括主逻辑层、控制程序层、辅助功能层3个层次。主逻辑层负责整个程序体系运行的调度,即调用控制程序层和辅助功能层中的功能模块;控制程序层包含飞机表面的分区及相应的喷涂控制程序模块;辅助功能层包括喷涂工艺参数、运动参数、系统默认参数等内容。为快速生成多层次喷涂程序体系,提出了面向飞机外表面喷涂的离线编程技术方案。以飞机模型表面喷涂为例,验证了方法的有效性和可维护性。

关键词： 喷涂机器人; 轨迹规划; 离线编程; 分布式; 控制程序结构

本文引用格式

王朝晖 , 陈恳 , 吴聊 , 缪东晶 . 面向飞机表面喷涂的多层次控制程序结构[J]. 航空学报, 2013 , 34(4) : 928 -935 . DOI: 10.7527/S1000-6893.2013.0153

Abstract

To realize aircraft surface automatic spray by robotic technology, a trajectory planning technology for aircraft surface spray is proposed and a location method for spraying work is presented according to the geometric features of aircraft outside surface. Based on these, a multi-layer control program structure is classified into three layers, i.e., a main logic layer, a control programming layer, and an auxiliary function layer. The running of the whole program system is managed by the main logic layer, which could call modules in the control program layer and auxiliary function layer. The control program layer includes some control program modules of the subareas of the aircraft surface, and the auxiliary function layer includes the spraying process parameters, movement parameters, and system calibration parameters, etc. To quickly generate a control program structure, an offline programming method for aircraft outside surface spray is presented. The efficiency and maintainability of the method are proved in a surface spray on an aircraft model.

Key words： spraying robot; trajectory planning; offline programming; distributed; control program structure

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